On constructing efficient evasion strategies for a game with imperfect information

In structuring tactics for evading a pursuing vehicle
P
, it is often the case that the evader
E
does not know the intercept time.
E
's policy must by necessity be random, the precise definition being dependent upon the dynamic description of the vehicles and the geometry of the engagement. A method of designing efficient evasion tactics that apportions available maneuver effort over a time interval so as to make the expected pursuer miss distance independent of intercept time is presented. The evasion maneuvers are also structured so that
E
reaches the confines of some defended region, his ultimate goal.